Robots are envisioned to play an increasingly important role in applications such as search, rescue, surveillance, and reconnaissance operations. Nowadays, the majority of mobile robots developed and deployed for such applications are (a) individually very capable both in terms of autonomy and sensor, and (b) are teleoperated or otherwise managed by a single or multiple operators. In contrast to the sophisticated robots currently used for these applications, the development of cheaper hardware allows the creation of swarm systems composed of many more robots but with each individual being far less powerful.